Pid Control of Rectilinear Snake Robots
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Traversing Tight Tunnels—Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot Henry C
Earth and Space 2018 158 Traversing Tight Tunnels—Implementing an Adaptive Concertina Gait in a Biomimetic Snake Robot Henry C. Astley1 1Biomimicry Research and Innovation Center, Dept. of Biology and Polymer Science, Univ. of Akron, 235 Carroll St., Akron, OH 44325-3908. E-mail: [email protected] ABSTRACT Snakes move through cluttered habitats and tight spaces with extraordinary ease, and consequently snake robots are a popular design for such situations. The remarkable locomotor performance of snakes is due in part to their diversity of locomotor modes for addressing a range of environmental challenges. Concertina locomotion consists of alternating periods of static anchoring and movement along the snake’s body, and is used to negotiate narrow spaces such as tunnels or bare branches. However, concertina locomotion has rarely been implemented in snake robots. In this paper, the anchor formation process in live snakes during concertina locomotion is quantified and used to implement concertina locomotion in a snake robot, with automatic detection of the width of the tunnel walls to modulate the waveform. This allows effective concertina locomotion in tunnels of unknown width, without prior knowledge of tunnel geometry, expanding the range of gaits in snake robots. INTRODUCTION The elongate, limbless body plan is extremely common throughout nature, in both vertebrate and invertebrates alike (Pechenik, J. A. 2005; Pough, F. H. et al. 2002), and has evolved independently numerous times (Gans, C 1975). Indeed, within lizards (Order Squamata) alone there are over two dozen independent evolutions of limblessness or functional limblessness (Wiens, J. J. et al. 2006). Snakes are by far the most successful limbless taxon, with a near-global distribution, nearly 3000 species, and a wide range of ecological niches and habitats (Pough, F. -
Slithering Locomotion
SLITHERING LOCOMOTION DAVID L. HU() AND MICHAEL SHELLEY∗∗ Abstract. Limbless terrestrial animals propel themselves by sliding their bellies along the ground. Although the study of dry solid-solid friction is a classical subject, the mechanisms underlying friction-based limbless propulsion have received little attention. We review and expand upon our previous work on the locomotion of snakes, who are expert sliders. We show that snakes use two principal mechanisms to slither on flat surfaces. First, their bellies are covered with scales that catch upon ground asperities, providing frictional anisotropy. Second, they are able to lift parts of their body slightly off the ground when moving. This reduces undesired frictional drag and applies greater pressure to the parts of the belly that are pushing the snake forwards. We review a theoretical framework that may be adapted by future investigators to understand other kinds of limbless locomotion. Key words. Snakes, friction, locomotion AMS(MOS) subject classifications. Primary 76Zxx 1. Introduction. Animal locomotion is as diverse as animal form. Swimming, flying and walking have received much attention [1, 9]withthe latter being the most commonly studied means for moving on land (Fig. 1). Comparatively little attention has been paid to limbless locomotion on land, which necessarily relies upon sliding. Sliding is physically distinct from pushing against a fluid and understanding it as a form of locomotion presents new challenges, as we present in this review. Terrestrial limbless animals are rare. Those that are multicellular include worms, snails and snakes, and account for less than 2% of the 1.8 million named species (Fig. -
CNN-Based Genetic Algorithm
International Journal of Computational Intelligence Systems, Vol.2, No. 2 (June, 2009), 124-131 Cellular Neural Networks-Based Genetic Algorithm for Optimizing the Behavior of an Unstructured Robot Alireza Fasih Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt Klagenfurt, Austria E-mail: [email protected] Jean Chamberlain Chedjou Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt E-mail: [email protected] Kyandoghere Kyamakya Transportation Informatics Group, Institute of Smart Systems Technologies, University of Klagenfurt E-mail: [email protected] Abstract A new learning algorithm for advanced robot locomotion is presented in this paper. This method involves both Cellular Neural Networks (CNN) technology and an evolutionary process based on genetic algorithm (GA) for a learning process. Learning is formulated as an optimization problem. CNN Templates are derived by GA after an optimization process. Through these templates the CNN computation platform generates a specific wave leading to the best motion of a walker robot. It is demonstrated that due to the new method presented in this paper an irregular and even a disjointed walker robot can successfully move with the highest performance. Keywords: Cellular Neural Networks, Robot locomotion, Simulation, Genetic Algorithms. 1. Introduction of animal walking motion with the aim of optimizing the energy consumption [2-4]. It is well-known that the Nowadays, some of the main goals of robotics science, walking motion of animals is of a stereotype. In a large mechatronics and artificial intelligence lie in designing variety of animals a central neural controller does mechanisms close to or mimicking as good as possible organize/coordinate the motion. -
Muscular Mechanisms and Kinematics of Rectilinear Locomotion in Boa Constrictors Steven J
© 2018. Published by The Company of Biologists Ltd | Journal of Experimental Biology (2018) 221, jeb166199. doi:10.1242/jeb.166199 RESEARCH ARTICLE Crawling without wiggling: muscular mechanisms and kinematics of rectilinear locomotion in boa constrictors Steven J. Newman and Bruce C. Jayne* ABSTRACT how such animals coordinate the muscle activity and movement A central issue for understanding locomotion of vertebrates is how among all of these serially homologous structures. Within muscle activity and movements of their segmented axial structures are vertebrates, both lampreys and snakes have body segments with coordinated, and snakes have a longitudinal uniformity of body size and shape that are relatively uniform along most of their length, segments and diverse locomotor behaviors that are well suited for and the absence of appendages provides a somewhat simplified studying the neural control of rhythmic axial movements. Unlike all body plan that makes both of these groups well suited for studying other major modes of snake locomotion, rectilinear locomotion does the neural control of rhythmic axial movements (Cohen, 1988). not involve axial bending, and the mechanisms of propulsion and Furthermore, snakes use different modes of locomotion in a variety modulating speed are not well understood. We integrated of environments, which facilitates investigating the diversity and electromyograms and kinematics of boa constrictors to test plasticity of axial motor patterns. Lissmann’s decades-old hypotheses of activity of the Most previous studies recognize at least four major modes of costocutaneous superior (CCS) and inferior (CCI) muscles and the terrestrial snake locomotion (Mosauer, 1932; Gray, 1968; Gans, intrinsic cutaneous interscutalis (IS) muscle during rectilinear 1974; Jayne, 1986; Cundall, 1987), but rectilinear is the only one of locomotion. -
Alexander 2013 Principles-Of-Animal-Locomotion.Pdf
.................................................... Principles of Animal Locomotion Principles of Animal Locomotion ..................................................... R. McNeill Alexander PRINCETON UNIVERSITY PRESS PRINCETON AND OXFORD Copyright © 2003 by Princeton University Press Published by Princeton University Press, 41 William Street, Princeton, New Jersey 08540 In the United Kingdom: Princeton University Press, 3 Market Place, Woodstock, Oxfordshire OX20 1SY All Rights Reserved Second printing, and first paperback printing, 2006 Paperback ISBN-13: 978-0-691-12634-0 Paperback ISBN-10: 0-691-12634-8 The Library of Congress has cataloged the cloth edition of this book as follows Alexander, R. McNeill. Principles of animal locomotion / R. McNeill Alexander. p. cm. Includes bibliographical references (p. ). ISBN 0-691-08678-8 (alk. paper) 1. Animal locomotion. I. Title. QP301.A2963 2002 591.47′9—dc21 2002016904 British Library Cataloging-in-Publication Data is available This book has been composed in Galliard and Bulmer Printed on acid-free paper. ∞ pup.princeton.edu Printed in the United States of America 1098765432 Contents ............................................................... PREFACE ix Chapter 1. The Best Way to Travel 1 1.1. Fitness 1 1.2. Speed 2 1.3. Acceleration and Maneuverability 2 1.4. Endurance 4 1.5. Economy of Energy 7 1.6. Stability 8 1.7. Compromises 9 1.8. Constraints 9 1.9. Optimization Theory 10 1.10. Gaits 12 Chapter 2. Muscle, the Motor 15 2.1. How Muscles Exert Force 15 2.2. Shortening and Lengthening Muscle 22 2.3. Power Output of Muscles 26 2.4. Pennation Patterns and Moment Arms 28 2.5. Power Consumption 31 2.6. Some Other Types of Muscle 34 Chapter 3. -
Biological System Models Reproducing Snakes’ Musculoskeletal System
The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan Biological System Models Reproducing Snakes’ Musculoskeletal System Kousuke Inoue, Kaita Nakamura, Masatoshi Suzuki, Yoshikazu Mori, Yasuhiro Fukuoka and Naoji Shiroma Abstract— Snakes are very unique animals that have dis- including the interaction in order to elucidate the mechanism tinguished motor function adaptable to the most diverse en- of emerging animals’ adaptive motor functions. vironments in terrestrial animals regardless of their simple cord-shaped body. Revealing the mechanism underlying this B. Previous works on snakes’ locomotion mechanisms distinct locomotion pattern, which is fundamentally different from walking, is signifficant not only in biolgical field but The researches on snakes in biology have been conducted also for applications in engineering firld. However, it has mainly on taxonomy, anatomy and snake poison and there been difficult to clarify this adaptive function, emerging from are few researches on snake locomotion until now. In lo- dynamic interaction between body, brain and environment, comotion studies [1]-[15], analytical discussions have been by previous scientific methodologies based on reductionism, carried out based on kinematics recording with respect to where understanding of the total system is approached by analyzing specific individual elements. In this research, we aim specific locomotion modes or EMG recording with a few at revealing the mechanisms underlying this adaptability by muscles that are said to be dominant for locomotion. For the use of the constructive methodology, in which biological example, Jayne [10] records EMG with the three dominant system models reflecting biological knowledge is used as a tool muscles with lateral undulation locomotion in terrestrial and for analysis of the total system. -
Studies on Amphisbaenids
STUDIES ON AMPHISBAENIDS (AMPHISBAENJA, REPTILIA) 1. A TAXONOMIC REVISION OF THE TROGONOPHINAE, AND A FUNC- TIONAL INTERPRETATION OF THE AMPHISBAENID ADAPTIVE PATTERN CARL GANS BULLETIN OF THE AMERICAN MUSEUM OF NATURAL HISTORY VOLUME 119 : ARTICLE 3 NEW YORK: 1960 STUDIES ON AMPHISBAENIDS (AMPHISBAENIA, REPTILIA) STUDIES ON AMPHISBAENIDS (AMPHISBAENIA, REPTILIA) 1. A TAXONOMIC REVISION OF THE TROGONOPHINAE, AND A FUNCTIONAL INTERPRETATION OF THE AMPHIS- BAENID ADAPTIVE PATTERN CARL GANS Research Associate, Department of Amphibians and Reptiles The American Museum of Natural History Department of Biology, The University of Buffalo Buffalo, New York Carnegie Museum, Pittsburgh, Pennsylvania BULLETIN OF THE AMERICAN MUSEUM OF NATURAL HISTORY VOLUME 119 : ARTICLE 3 NEW YORK 1960 BULLETIN OF THE AMERICAN MUSEUM OF NATURAL HISTORY Volume 119, article 3, pages 129-204, text figures 1-32, plate 45, tables 1-3 Issued May 23, 1960 Price: $1.50 a copy CONTENTS INTRODUCTION. * * * 4 135 A TAXONOMIC REVISION OF THE TROGONOPHINAE * . * * * * * 136 Material. * . * * * - 136 Discussion of Characters. * . * * * * 139 Shape and Scutellation of Head. * . X 139 Diplometopon. * . * . - 139 Other Acrodont Forms. * * * * 141 Posterior Integument ............. * . * * . * . 141 Diplometopon. ****** * . o* * * * * 141 Other Acrodont Forms. * * * * 144 Color Pattern ................ * * * * * * . * . 146 Skull. *. s* * * * * 147 General Comparison ............ * * * * * . * @ 147 Trogonophis. * . * * * * 149 Pachycalamus. * . * . e 153 *****. *- * * * - Diplometopon. -
Special Feature on Bio-Inspired Robotics
applied sciences Editorial Special Feature on Bio-Inspired Robotics Toshio Fukuda 1,2,3, Fei Chen 4,* ID and Qing Shi 3 1 Institute for Advanced Research, Nagoya University, Chikusa-ku, Nagoya 464-8601, Japan; [email protected] 2 Department of Mechatronics Engineering, Meijo University, Nagoya, Aichi Prefecture 468-0073, Japan 3 Intelligent Robotics Institute, School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081, China; [email protected] 4 Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genoa, Italy * Correspondence: [email protected]; Tel.: +39-10-71781-217 Received: 4 May 2018; Accepted: 14 May 2018; Published: 18 May 2018 1. Introduction Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to feed new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory-motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. -
Getting It Straight: Accommodating Rectilinear Behavior in Captive Snakes—A Review of Recommendations and Their Evidence Base
animals Article Getting It Straight: Accommodating Rectilinear Behavior in Captive Snakes—A Review of Recommendations and Their Evidence Base Clifford Warwick 1,*, Rachel Grant 2, Catrina Steedman 1, Tiffani J. Howell 3 , Phillip C. Arena 4, Angelo J. L. Lambiris 1, Ann-Elizabeth Nash 5, Mike Jessop 6, Anthony Pilny 7, Melissa Amarello 8 , Steve Gorzula 9, Marisa Spain 10, Adrian Walton 11, Emma Nicholas 12, Karen Mancera 13, Martin Whitehead 14 , Albert Martínez-Silvestre 15 , Vanessa Cadenas 16, Alexandra Whittaker 17 and Alix Wilson 18 1 Emergent Disease Foundation, Suite 114, 80 Churchill Square Business Centre, King’s Hill, Kent ME19 4YU, UK; [email protected] (C.S.); [email protected] (A.J.L.L.) 2 School of Applied Sciences, London South Bank University, 103 Borough Rd, London SE1 0AA, UK; [email protected] 3 School of Psychology and Public Health, La Trobe University, Bendigo, VIC 3552, Australia; [email protected] 4 Pro-Vice Chancellor (Education) Department, Murdoch University, Mandurah, WA 6210, Australia; [email protected] 5 Colorado Reptile Humane Society, 13941 Elmore Road, Longmont, Colorado, CO 80504, USA; [email protected] 6 Veterinary Expert, P.O. Box 575, Swansea SA8 9AW, UK; [email protected] 7 Arizona Exotic Animal Hospital, 2340 E Beardsley Road Ste 100, Phoenix, Arizona, AZ 85024, USA; [email protected] 8 Advocates for Snake Preservation, P.O. Box 2752, Silver City, NM 88062, USA; [email protected] Citation: Warwick, C.; Grant, R.; 9 Freelance Consultant, 7724 Glenister Drive, Springfield, VA 22152, USA; [email protected] Steedman, C.; Howell, T.J.; Arena, 10 Jacksonville Zoo and Gardens, 370 Zoo Parkway, Jacksonville, FL 32218, USA; [email protected] P.C.; Lambiris, A.J.L.; Nash, A.-E.; 11 Dewdney Animal Hospital, 11965 228th Street, Maple Ridge, BC V2X 6M1, Canada; [email protected] Jessop, M.; Pilny, A.; Amarello, M.; 12 Notting Hill Medivet, 106 Talbot Road, London W11 1JR, UK; [email protected] et al. -
A Comparative Study of Locomotion in the Caecilians Dermophis Mexicanus and Typhlonectes Natans (Amphibia: Gymnophiona)
Zoological Journal of the Linnean Society (1997), 121: 65±76. With 4 ®gures A comparative study of locomotion in the caecilians Dermophis mexicanus and Typhlonectes natans (Amphibia: Gymnophiona) ADAM P. SUMMERS Organismic and Evolutionary Biology Program, University of Massachusetts, Amherst, MA 01003-5810, U.S.A. JAMES C. O'REILLY Department of Biological Sciences, Northern Arizona University, FlagstaV, AZ 86011±5640, U.S.A. Received January 1996; accepted for publication September 1996 We compared locomotion of two species of caecilian using x-ray videography of the animals traversing smooth-sided channels and a pegboard. Two channel widths were used, a body width channel and a body width +20% channel. The terrestrial caecilian, Dermophis mexicanus, used internal concertina locomotion in both channels and lateral undulation on the pegboard. The aquatic caecilian, Typhlonectes natans, was not able to move at all in the body width channel. In the wider channel Typhlonectes proceeded at the same speed as Dermophis while using normal, rather than internal, concertina locomotion. On the pegboard, Typhlonectes used lateral undulation and achieved 2.5 times the speed managed by Dermophis. A phylogenetic analysis of this, and other, evidence shows that (1) internal concertina evolved in the ancestor to extant caecilians and (2) internal concertina locomotion was secondarily lost in the aquatic caecilians. 1997 The Linnean Society of London ADDITIONAL KEY WORDSÐburrowing ± phylogenetic analysis ± lateral undulation ± concertina ± internal concertina ± Caeciliidae. CONTENTS Introduction ....................... 66 Methods ........................ 68 Husbandry and surgery ................. 68 Locomotion ..................... 68 Data analysis and statistics ................ 68 Phylogenetic analysis .................. 69 Correspondence to A.P. Summers. email: [email protected] 65 0024±4082/97/090065+12 $25.00/0/zj960090 1997 The Linnean Society of London 66 A. -
Limbless Locomotion: Learning to Crawl with a Snake Robot
Limbless Locomotion: Learning to Crawl with a Snake Robot Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Robotics Kevin J. Dowling Advised by William L. Whittaker The Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh, PA 15213 December 1997 This research was supported in part by NASA Graduate Fellowships 1994, 1995 and 1996. The views and conclusions contained in this document are those of the author and should not be interpreted as representing the official policies, either expressed or implied, of NASA or the U.S. Government. Ó 1997 by Kevin Dowling. Limbless Locomotion: Learning to Crawl Snake robots that learn to locomote Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy in Robotics by Kevin Dowling The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 Robots can locomote using body motions; not wheels or legs. Natural analogues, such as snakes, although capable of such locomotion, are understood only in a qualitative sense and the detailed mechanics, sensing and control of snake motions are not well understood. Historically, mobile vehicles for terrestrial use have either been wheeled, tracked or legged. Prior art reveals several serpentine locomotor efforts, but there is little in the way of practical mechanisms and flexible control for limbless locomoting devices. Those mechanisms that exist in the laboratory exhibit only the rough features of natural limbless locomotors such as snakes. The motivation for this work stems from environments where traditional machines are precluded due to size or shape and where appendages such as wheels or legs cause entrapment or failure. -
A Serpentine Robot Designed for Efficient Rectilinear Motion
A Serpentine Robot Designed for Efficient Rectilinear Motion A Thesis Submitted to the Faculty of Drexel University by Richard Anthony Primerano in partial fulfillment of the requirements for the degree of Master of Science September 2008 ii © Copyright 2008 Richard A. Primerano. All Rights Reserved. iii Table of Contents List of Figures..................................................................................................................... v List of Acronyms .............................................................................................................. vii List of Acronyms .............................................................................................................. vii Abstract............................................................................................................................viii Introduction......................................................................................................................... 1 1 Background.................................................................................................................. 2 2 Mechanical Design...................................................................................................... 5 2.1 Overview......................................................................................................... 5 2.2 Frame .............................................................................................................. 8 2.2.1 Design Options/Future Considerations..................................................